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#include <sensor_msgs/msg/image.hpp>

#include "image_transport/single_subscriber_publisher.h"
#include "image_transport/publisher.h"

namespace image_transport
{

SingleSubscriberPublisher::SingleSubscriberPublisher(
  const std::string & caller_id, const std::string & topic,
  const GetNumSubscribersFn & num_subscribers_fn,
  const PublishFn & publish_fn)
: caller_id_(caller_id), topic_(topic),
  num_subscribers_fn_(num_subscribers_fn),
  publish_fn_(publish_fn)
{
}

std::string SingleSubscriberPublisher::getSubscriberName() const
{
  return caller_id_;
}

std::string SingleSubscriberPublisher::getTopic() const
{
  return topic_;
}

uint32_t SingleSubscriberPublisher::getNumSubscribers() const
{
  return num_subscribers_fn_();
}

void SingleSubscriberPublisher::publish(const sensor_msgs::msg::Image & message) const
{
  publish_fn_(message);
}

void SingleSubscriberPublisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const
{
  publish_fn_(*message);
}

} //namespace image_transport
